Research on Active Disturbance Rejection Control of a 6-DOF Microgravity Simulation Platform With Hybrid Pneumatic-Electric Actuators
WANG Lingyu1, WU Hongtao1, ZHANG Xuexiang1, LIU Yanli1,2, YANG Xiaolong1
1.College of Machanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. Department of Mechanical Engineering, Jiangsu College of Safety, Xuzhou 221011, China
HIL (Hardware-In-the-Loop) simulation is one of the key technologies for aerospace devices to imple-ment microgravity simulation experiment on the ground, where the hardware system needs high carrying capacity, high frequency response and high precision control performance. Therefore, a hybrid pneumatic-electric actuator is proposed for the 6-DOF microgravity simulation platform. Each leg of the platform is composed of a cylinder and a servo motor in parallel. The cylinders support 80%-90% of load and the servo motors ensure the high accuracy of the control system. Since the pneumatic force control system is a highly nonlinear system, an integral-linear active disturbance rejection controller (I-LADRC) is proposed. Compared to the PID algorithm, this controller provides a higher precision, faster response and stronger robustness.
王灵禺，吴洪涛，张学祥，刘艳梨，杨小龙. 气电联合的六维微重力模拟平台自抗扰控制研究[J]. 航空制造技术, 2018, 61(4): 65-72.
WANG Lingyu, WU Hongtao, ZHANG Xuexiang, LIU Yanli, YANG Xiaolong. Research on Active Disturbance Rejection Control of a 6-DOF Microgravity Simulation Platform With Hybrid Pneumatic-Electric Actuators[J]. Aeronautical Manufacturing Technology, 2018, 61(4): 65-72.
2018, 
